################################################################################ # Copyright © 2022 TRINAMIC Motion Control GmbH & Co. KG # (now owned by Analog Devices Inc.), # # Copyright © 2023 Analog Devices Inc. All Rights Reserved. # This software is proprietary to Analog Devices, Inc. and its licensors. ################################################################################ import pytrinamic " interfaces " from ..modules import TMCLModule from ..features import MotorControlModule, DriveSettingModule, LinearRampModule from ..features import ABNEncoderModule, AbsoluteEncoderModule, DigitalHallModule, PIDModule from ..features.ramp_settings_module import RampSettingsModule from ..features.brakechopper_module import BrakeChopperModule from ..features.referenceswitches_module import ReferenceSwitchesModule class TMCM1690(TMCLModule): """ The TMCM-1690 is a single axis servo drive platform for 3-phase BLDC motors and DC motors. Supply voltage is 8-48V. """ def __init__(self, connection, module_id=1): super().__init__(connection, module_id, ap_index_bit_width=12) self.name = "TMCM-1690" self.desc = self.__doc__ self.motors = [self._MotorTypeA(self, 0)] def rotate(self, axis, velocity): self.connection.rotate(axis, velocity, self.module_id) def stop(self, axis): self.connection.stop(axis, self.module_id) def move_to(self, axis, position, velocity=None): if velocity: self.motors[axis].linear_ramp.max_velocity = velocity self.connection.move_to(axis, position, self.module_id) def move_by(self, axis, difference, velocity=None): if velocity: self.motors[axis].linear_ramp.max_velocity = velocity self.connection.move_by(axis, difference, self.module_id) class _MotorTypeA(MotorControlModule): def __init__(self, module, axis): MotorControlModule.__init__(self, module, axis, self.AP) self.drive_settings = DriveSettingModule(module, axis, self.AP) self.linear_ramp = LinearRampModule(module, axis, self.AP) self.abn_encoder = ABNEncoderModule(module, axis, self.AP) self.abs_encoder = AbsoluteEncoderModule(module, axis, self.AP) self.digital_hall = DigitalHallModule(module, axis, self.AP) self.pid = PIDModule(module, axis, self.AP) self.brake_chopper = BrakeChopperModule(module, axis, self.AP) self.reference_switches = ReferenceSwitchesModule(module, axis, self.AP) self.ramp_settings = RampSettingsModule(module, axis, self.AP) def get_position_reached(self): return self.get_axis_parameter(self.AP.StatusFlags) & self.ENUM.FLAG_POSITION_END def get_target_current(self): return self.get_axis_parameter(self.AP.TargetTorque, signed=True) def set_target_current(self, value): return self.set_axis_parameter(self.AP.TargetTorque, value) def set_target_current(self): return self.get_axis_parameter(self.AP.ActualTorque, signed=True) class AP: MotorType = 0 MotorFamily = 1 MotorPolePairs = 2 MotorPolePairDistance = 3 MotorNominalCurrent = 4 MotorPeakCurrent = 5 MotorLineToLineResistance = 6 MotorLineToLineInductance = 7 MotorTorqueConstant = 8 MotorInertia = 9 RampType = 11 MotorDirection = 12 CommutationMode = 13 Peripherals = 14 CurrentSensorSelection = 15 MaxTorque = 16 PWMScheme = 17 PWMFrequency = 18 PWMDeadTime = 19 AdcPhaseA = 21 AdcPhaseB = 22 AdcPhaseC = 23 AdcOffsetPhaseA = 24 AdcOffsetPhaseB = 25 AdcOffsetPhaseC = 26 CurrentPhaseA = 27 CurrentPhaseB = 28 CurrentPhaseC = 29 ActualOpenLoopAngle = 31 StartCurrent = 32 OpenLoopVelocity = 33 OpenLoopPosition = 34 ActualHallAngle = 36 HallOpenLoopAngleDiff = 37 HallVelocity = 38 HallPosition = 39 HallSensorSectorOffset = 40 HallSensorDirection = 41 HallSensorInterpolation = 42 HallSensorOffset = 43 HallSensorInputs = 44 HallSensorAutoConfigTrig = 45 ActualEncoderAngle = 46 EncoderOpenLoopAngleDiff = 47 EncoderVelocity = 48 EncoderPosition = 49 EncoderSteps = 50 EncoderDirection = 51 EncoderInitMode = 52 EncoderInitState = 53 EncoderInitDelay = 54 EncoderInitVelocity = 55 EncoderOffset = 56 ClearOnNull = 57 ClearOnce = 58 EncoderInputs = 59 EncoderValue = 60 EncoderSensorSide = 61 Encoder2Velolcity = 62 Encoder2Position = 63 Encoder2Steps = 64 Encoder2Direction = 65 Encoder2Inputs = 66 Encoder2SensorSide = 67 ActualAbsoluteEncoderAngle = 68 AbsoluteEncoderOpenLoopDiff = 69 AbsoluteEncoderVelocity = 70 AbsoluteEncoderPosition = 71 AbsoluteEncoderType = 72 AbsoluteEncoderInitMode = 73 AbsoluteEncoderDirection = 74 AbsoluteEncoderOffset = 75 AbsoluteEncoderSensorSide = 76 TargetTorque = 77 ActualTorque = 78 TargetFlux = 79 ActualFlux = 80 TorqueOffset = 82 TorqueP = 83 TorqueI = 84 CurrentPIDErrorSum = 85 FluxPIDErrorSum = 86 TorquePIDError = 87 FluxPIDError = 88 VelocitySensorSelection = 90 VelocityUnitSelection = 91 TargetVelocity = 92 ActualVelocity = 93 MaxVelocity = 94 MaxAcceleration = 95 HaltedVelocity = 96 VelocityOffset = 98 VelocityP = 99 VelocityI = 100 VelocityPIDErrorSum = 101 VelocityPIDError = 102 PositionSensorSelection = 104 TargetPosition = 105 ActualPosition = 106 TargetReachedDistance = 107 TargetReachedVelocity = 108 PositionReachedFlag = 109 PositionP = 110 PositionPIDError = 111 GearboxTransmissionType = 113 GearboxInputDisplacement = 114 GearboxOutputDisplacement = 115 GearboxInvertDirection = 116 IITThermalWindingTimeConstant1 = 118 IITLimit1 = 119 IITSum1 = 120 IITThermalWindingTimeConstant2 = 121 IITLimit2 = 122 IITSum2 = 123 IITClearIITExceedFlags = 124 VelocityWindow = 126 ClearVelocityWindowFlag = 127 PositionWindow = 128 ClearPositionWindowFlag = 129 RampAcceleration = 131 RampVelocity = 132 EnableRamp = 133 EnableVelocityFeedForward = 134 RampPosition = 135 HomingMode = 137 HomingState = 138 HomingFastVelocity = 139 HomingSlowVelocity = 140 HomingMaxTorque = 141 HomingPositionOffsetCW = 142 HomingPositionOffsetCCW = 143 HomingMinPositionLim = 144 HomingMaxPositionLim = 145 HomingTeachLim = 146 FilterTargetTorType = 148 FilterTargetTorAverageFilterSize= 149 FilterTargetTorBiquadA1 = 150 FilterTargetTorBiquadA2 = 151 FilterTargetTorBiquadB0 = 152 FilterTargetTorBiquadB1 = 153 FilterTargetTorBiquadB2 = 154 FilterTargetTorReservedPlace = 155 FilterActualTorType = 156 FilterActualTorAverageFilterSize= 157 FilterActualTorBiquadA1 = 158 FilterActualTorBiquadA2 = 159 FilterActualTorBiquadB0 = 160 FilterActualTorBiquadB1 = 161 FilterActualTorBiquadB2 = 162 FilterActualTorReservedPlace = 163 FilterTargetVelType = 164 FilterTargetVelAverageFilterSize= 165 FilterTargetVelBiquadA1 = 166 FilterTargetVelBiquadA2 = 167 FilterTargetVelBiquadB0 = 168 FilterTargetVelBiquadB1 = 169 FilterTargetVelBiquadB2 = 170 FilterTargetVelReservedPlace = 171 FilterActualVelType = 172 FilterActualVelAverageFilterSize= 173 FilterActualVelBiquadA1 = 174 FilterActualVelBiquadA2 = 175 FilterActualVelBiquadB0 = 176 FilterActualVelBiquadB1 = 177 FilterActualVelBiquadB2 = 178 FilterActualVelReservedPlace = 179 FilterTargetPosType = 180 FilterTargetPosAverageFilterSize= 181 FilterTargetPosBiquadA1 = 182 FilterTargetPosBiquadA2 = 183 FilterTargetPosBiquadB0 = 184 FilterTargetPosBiquadB1 = 185 FilterTargetPosBiquadB2 = 186 FilterTargetPosReservedPlace = 187 ReleaseBrake = 188 BrakeReleasingDutyCycle = 189 BrakeHoldingDutyDutyCycle = 190 BrakeReleasingDuration = 191 EnableBrakeOutput = 192 InvertBrakeOutput = 193 BrakeSupplyVoltage = 194 BrakeResistance = 195 BrakeChopperEnabled = 197 BrakeChopperVoltage = 198 BrakeChopperHysteresis = 199 BrakeChopperType = 200 BrakeChopperActive = 201 BrakeChopperSupplyVoltage = 202 BrakeChopperResistance = 203 ReferenceSwitchEnable = 205 ReferenceSwitchPolarity = 206 RightStopSwitch = 207 LeftStopSwitch = 208 StatusFlags = 210 SupplyVoltage = 211 SupplyVoltageThreshold = 212 DriverTemperature = 213 DriverTemperatureThreshold = 214 Encoder2CommutationAngle = 216 SwitchOverVelocity = 220 LowerVelocityP = 221 LowerVelocityI = 222 DriverStatusRegistert = 238 ClearDriverErrorFlag = 239 MainLoopsPerSecond = 240 PWMLoopsPerSecond = 241 TorqueLoopsPerSecond = 242 VelocityLoopsPerSecond = 243 DebugValue0 = 244 DebugValue1 = 245 DebugValue2 = 246 DebugValue3 = 247 DebugValue4 = 248 DebugValue5 = 249 DebugValue6 = 250 DebugValue7 = 251 DebugValue8 = 252 DebugValue9 = 253 ReinitBLDCRegulation = 254 EnableDriver = 255 LinearVelocityWindow = 260 LinearPositionWindow = 261 EncoderLinearResolution = 262 LinearMaximumVelocity = 263 LinearMaximumAcceleration = 264 LinearTargetVelocity = 265 LinearActualVelocity = 266 LinearTargetPosition = 267 LinearActualPosition = 268 LinearRampVelocity = 269 LinearRampPosition = 270 LinearVelocityOffset = 271 LinearSwitchOverVelocity = 272 LinearCatchUpVelocity = 273 class ENUM: COMM_MODE_DISABLED = 0 COMM_MODE_OPENLOOP = 1 COMM_MODE_FOC_DIGITAL_HALL = 2 COMM_MODE_BLOCK_HALL = 3 COMM_MODE_FOC_ABN_ENCODER = 4 COMM_MODE_FOC_ABS_ENCODER = 5 ENCODER_INIT_MODE_0 = 0 ENCODER_INIT_MODE_1 = 1 ENCODER_INIT_MODE_2 = 2 ENCODER_INIT_MODE_3 = 3 ENCODER_INIT_MODE_4 = 4 ABS_ENCODER_TYPE_DISABLED = 0 ABS_ENCODER_AM4096 = 1 ABS_ENCODER_MU150 = 2 ABS_ENCODER_INIT_MODE_ESTIMATE_OFFSET = 0 ABS_ENCODER_INIT_MODE_ESTIMATE_OFFSET_SHAKING = 1 ABS_ENCODER_INIT_MODE_USE_OFFSET = 2 POS_SELECTION_SAME = 0 POS_SELECTION_HALL = 1 POS_SELECTION_ABN = 2 POS_SELECTION_ABN2 = 3 POS_SELECTION_ABS = 4 VEL_SELECTION_SAME = 0 VEL_SELECTION_HALL = 1 VEL_SELECTION_ABN = 2 VEL_SELECTION_ABN2 = 3 VEL_SELECTION_ABS = 4 MOTOR_TYPE_THREE_PHASE_BLDC = 0 MOTOR_TYPE_SINGLE_PHASE_DC = 1 FILTER_TYPE_DISABLE = 0 FILTER_TYPE_AVERAGE = 1 FILTER_TYPE_BIQUAD = 2 SIGNAL_TYPE_TARGET_TORQUE = 0 SIGNAL_TYPE_ACTUAL_TORQUE = 1 SIGNAL_TYPE_TARGET_VELOCITY = 2 SIGNAL_TYPE_ACTUAL_VELOCITY = 3 SIGNAL_TYPE_TARGET_POSITION = 4 FLAG_OVERCURRENT = 0x00000001 # 0 FLAG_UNDERVOLTAGE = 0x00000002 # 1 FLAG_OVERVOLTAGE = 0x00000004 # 2 FLAG_OVERTEMPERATURE = 0x00000008 # 3 FLAG_MOTORHALTED = 0x00000010 # 4 FLAG_HALLERROR = 0x00000020 # 5 FLAG_DRIVER_ERROR = 0x00000040 # 6 FLAG_INIT_ERROR = 0x00000080 # 7 FLAG_STOP_MODE = 0x00000100 # 8 FLAG_VELOCITY_MODE = 0x00000200 # 9 FLAG_POSITION_MODE = 0x00000400 # 10 FLAG_TORQUE_MODE = 0x00000800 # 11 FLAG_VELOCITY_WINDOW_ERROR = 0x00001000 # 12 FLAG_POSITION_WINDOW_ERROR = 0x00002000 # 13 FLAG_POSITION_END = 0x00004000 # 14 FLAG_MODULE_INITIALIZED = 0x00008000 # 15 FLAG_ETHERCAT_TIMEOUT = 0x00010000 # 16 FLAG_IIT_EXCEEDED_1 = 0x00020000 # 17 FLAG_IIT_EXCEEDED_2 = 0x00040000 # 18 FLAG_BRAKE_ACTIVE = 0x00080000 # 19 FLAG_HOMED = 0x00100000 # 21 FLAG_HOMING = 0x00200000 # 22 FLAG_MIN_POS_LIMIT = 0x00400000 # 23 FLAG_MAX_POS_LIMIT = 0x00800000 # 24 class GP: SerialBaudRate = 65 SerialAddress = 66 CANBitRate = 69 CANsendID = 70 CANreceiveID = 71 TelegramPauseTime = 75 SerialHostAddress = 76 AutoStartMode = 77 ApplicationStatus = 128 ProgramCounter = 130 TickTimer = 132 class DI: GPI_2 = 0 GPI_3 = 1 GPI_4 = 2 GPI_5 = 3 GPI_6 = 4 GPI_7 = 5 REF_R = 6 REF_L = 7 # ENABLE = 2 class AIN: ADC_phase_A = 0 ADC_phase_B = 1 ADC_phase_C = 2 ADC_VSupply = 3 ADC_Temp = 4 ADC_VSupply_12V = 5 ADC_VSupply_5V = 6 ADC_IN_0 = 7